WO2022073465A1 - 机臂机构 - Google Patents

机臂机构 Download PDF

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Publication number
WO2022073465A1
WO2022073465A1 PCT/CN2021/122503 CN2021122503W WO2022073465A1 WO 2022073465 A1 WO2022073465 A1 WO 2022073465A1 CN 2021122503 W CN2021122503 W CN 2021122503W WO 2022073465 A1 WO2022073465 A1 WO 2022073465A1
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WO
WIPO (PCT)
Prior art keywords
arm
slot
hole
aerial vehicle
unmanned aerial
Prior art date
Application number
PCT/CN2021/122503
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English (en)
French (fr)
Inventor
刘领娇
张小梦
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刘领娇
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Application filed by 刘领娇 filed Critical 刘领娇
Publication of WO2022073465A1 publication Critical patent/WO2022073465A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D27/00—Arrangement or mounting of power plant in aircraft; Aircraft characterised thereby
    • B64D27/02—Aircraft characterised by the type or position of power plant
    • B64D27/24—Aircraft characterised by the type or position of power plant using steam, electricity, or spring force
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
    • B64C1/06—Frames; Stringers; Longerons ; Fuselage sections
    • B64D27/40—
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/19—Propulsion using electrically powered motors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T50/00—Aeronautics or air transport
    • Y02T50/40—Weight reduction

Definitions

  • the drone is composed of a fuselage, an arm, a motor and a propeller.
  • the arm mechanism is used to install the motor and connect with the fuselage. During the flight, the arm mechanism is prone to vibration, which seriously affects the flight safety of the UAV.
  • the invention provides an unmanned aerial vehicle arm mechanism, comprising an upper arm and a lower arm, first slots are arranged on both sides of the lower arm, and two sides of the upper arm are arranged to be plugged into the first slots
  • the matching plug board, the outer end of the upper arm is fixed with a top shell, the center of the top shell is provided with a first through hole, the inner side of the top shell is annularly arranged with a number of pressing blocks with the first through hole as the center.
  • the outer end is fixed with a bottom shell, the bottom surface of the bottom shell is provided with a number of second through holes, and the inner side of the bottom shell is fixed with two arc-shaped bases.
  • the inner side of the lower arm is fixed with a one-to-one corresponding partition plate, a rubber vibration isolation block is inserted between the adjacent partition plates, a Z-shaped shrapnel is connected between the adjacent rubber vibration isolation blocks, and the rubber is connected to the bottom shell.
  • the shock-isolating block and the two arc-shaped bases are crimped to each other.
  • FIG. 1 is a structural diagram of a specific embodiment of the present invention.
  • Figure 2 is a bottom view of the top case in one embodiment of the present invention.
  • FIG. 3 is a top view of the bottom case in an embodiment of the present invention.
  • Fig. 4 is a structural diagram of one end of the arc-shaped base in contact with the rubber shock isolator in a specific embodiment of the present invention.
  • FIG. 5 is a structural diagram of the connection part between the rubber shock isolation block and the Z-shaped elastic sheet in a specific embodiment of the present invention (the Z-shaped elastic sheets on both sides in the figure are not shown).
  • FIG. 6 is a structural diagram of a locking belt in a specific embodiment of the present invention.
  • a specific embodiment of the present invention includes an upper machine arm 1 and a lower machine arm 2, the two sides of the lower machine arm 2 are provided with first slots 3, and both sides of the upper machine arm 1 are provided with first slots 3
  • the slot 3 is inserted into the matching plug board 4, the outer end of the upper arm 1 is fixed with a top shell 5, the center of the top shell 5 is provided with a first through hole 6, and the inside of the top shell 5 is annular with the first through hole 6 as the center
  • a number of pressing blocks 7 are arranged, the outer end of the lower arm 2 is fixed with a bottom shell 8, the bottom surface of the bottom shell 8 is provided with a number of second through holes 13, and the inner side of the bottom shell 8 is fixed with two arc-shaped bases 9 , the arc-shaped base 9 is arranged symmetrically with the center line of the lower arm 2 as the symmetrical axis, the inner sides of the upper arm 1 and the lower arm 2 are fixed with a one-to-one corresponding partition 10,
  • the vibration isolation blocks 11 are connected with Z-shaped elastic pieces 12 between adjacent rubber vibration isolation blocks 11 , and the rubber vibration isolation blocks 11 connected with the bottom shell 8 are crimped with the two arc-shaped bases 9 .
  • the arc-shaped base 9 includes a plurality of rubber steps 14 , a first cavity 15 is arranged inside the rubber step 14 , and a transverse rigid plate 16 and a longitudinal elastic sheet 17 corresponding to the rubber step 14 are installed in the first cavity 15 .
  • the transverse rigid plate 16 and the longitudinal elastic pieces 17 are connected end to end
  • two connecting rods 19 are fixed on each longitudinal elastic piece 17 of the arc-shaped base 9 on the side close to the rubber shock isolator 11, and the rubber step 14 is connected to the rubber shock isolator.
  • the hinge 21 is slidably clamped in the sliding sleeve 20 .
  • the elastic diaphragm 18 is provided with a longitudinal reinforcing rib 22 , and the sliding sleeve 20 is fixedly connected with the longitudinal reinforcing rib 22 .
  • a limit groove 23 for fixing the Z-shaped elastic piece 12 is provided on the side wall of the rubber shock isolator 11, a plurality of steel threaded sleeves 24 are arranged on the bottom surface of the limit groove 23, and a third channel is respectively provided at both ends of the Z-shaped elastic piece 12.
  • the Z-shaped elastic piece 12 is fixed in the limiting groove 23 by the locking bolt 26.
  • the Z-shaped shrapnel 12 is provided with a shock absorber 27 .
  • the lower surface of the pressing block 7 is evenly provided with several pressing pieces 28 which are inclined outward.
  • the upper machine arm 1 and the lower machine arm 2 are fixedly inserted through the locking belt 29, two limit blocks 30 are slidably installed on the locking belt 29, the two ends of the limit blocks 30 are connected with springs 31, and the locking belt 29 is fixed
  • the limit block 30 is located in the gap between the first slot 3 and the plug-in board 4, the spring 31 is press-fitted with the upper machine arm 1 and the lower machine arm 2 respectively, and the locking belt 29
  • One end of the locking belt 29 is provided with a first adjusting bolt 32
  • the other end of the locking belt 29 is provided with a card slot 33 that is engaged with the first adjusting bolt 32
  • the end of the locking belt 29 with the card groove 33 is inserted into the first adjusting bolt 32.
  • Below the bolts 32 when the first adjusting bolts 32 are rotated, the first adjusting bolts 32 are engaged with different clamping grooves 33 , so that the inner diameter of the locking band 29 can be changed.
  • a second cavity 34 is provided in the rubber shock isolation block 11 , the surface of the upper arm 1 is provided with a threaded hole 35 corresponding to the rubber shock isolation block 11 one-to-one, and the top of the second cavity 34 is provided with a threaded hole 35 .
  • the supporting elastic sheet 37 is symmetrically fixed to the side wall of the second cavity 34 with the matched fourth through hole 36 .
  • the top of the supporting elastic sheet 37 is provided with a bent portion 38 , and the bent portion 38 is located directly below the fourth through hole 36 .
  • the second adjusting bolt 39 is threadedly connected with the threaded hole 35 , and the distal end of the second adjusting bolt 39 and the bent portion 38 are in pressing contact with each other. .
  • a second slot 40 is arranged in the lower arm 2, and an elastic bottom plate 41 is movably inserted into the second slot 40.
  • the top of the elastic bottom plate 41 is provided with a bottom bracket 42 corresponding to the rubber shock isolation block 11 one-to-one.
  • the shock isolation block 11 is installed in the bottom bracket 42 .
  • the elastic bottom plate 41 cooperates with the Z-shaped elastic sheet 12 to form two independent elastic connection mechanisms.
  • the Z-shaped elastic sheet 12 is mainly used to transmit and buffer the lateral force inside the elastic bottom plate 41, and the elastic bottom plate 41 is mainly used for the elastic bottom plate.
  • the longitudinal force inside 41 is buffered.
  • the assembly process of the arm mechanism of the present invention is as follows: first connect the lower arm 2 with the fuselage, then place the motor on the bottom case 8, make the arc-shaped base 9 and the motor stably contact, use bolts to pass through the second through holes 13 Fix the motor, and then select the appropriate rubber vibration isolator 11 according to the size of the motor and place it on the bottom bracket 42, and then use the Z-shaped shrapnel 12 to connect different rubber vibration isolators 11, and then plug the upper arm 1 to the bottom. On the machine arm 2, use the locking belt 29 to lock and fix the upper machine arm 1 and the lower machine arm 2.

Abstract

一种机臂机构，包括上机臂（1）和下机臂（2），下机臂（2）的两侧设置有第一插槽（3），上机臂（1）的两侧设置有与第一插槽（3）插接配合的插板（4），上机臂（1）的外侧端固定有顶壳（5），顶壳（5）设置有第一通孔（6）和若干个压块（7），下机臂（2）的外侧端固定有底壳（8），底壳（8）的底面设置有若干个第二通孔（13），底壳（8）的内侧固定有两个弧形底座（9），上机臂（1）和下机臂（2）的内侧面固定有一一对应的隔板（10），相邻隔板（10）之间插接有橡胶隔震块（11），相邻橡胶隔震块（11）之间连接有弹片（12），与底壳（8）相接的橡胶隔震块（11）与两个弧形底座（9）相互压接，从而降低了机臂发生振动的几率。

Description

机臂机构
发明背景
无人机是由机身、机臂、电机和螺旋桨组成的，机臂机构是用来安装电机并与机身进行连接的，由于机臂机构每次安装不可避免的误差和不确定性，在飞行过程中机臂机构容易产生振动，严重影响了无人机的飞行安全。
发明概述                                
本发明提供了一种无人机机臂机构，包括上机臂和下机臂，下机臂的两侧设置有第一插槽，上机臂的两侧设置有与第一插槽插接配合的插板，上机臂的外侧端固定有顶壳，顶壳的中心设置有第一通孔，顶壳内侧以第一通孔为中心环形排布有若干个压块，下机臂的外侧端固定有底壳，底壳的底面设置有若干个第二通孔，底壳的内侧固定有两个弧形底座，弧形底座以下机臂的中线为对称轴对称设置，上机臂和下机臂的内侧面固定有一一对应的隔板，相邻隔板之间插接有橡胶隔震块，相邻橡胶隔震块之间连接有Z型弹片，与底壳相接的橡胶隔震块与两个弧形底座相互压接。
[根据细则91更正 13.02.2022]　附图说明
图1是本发明一个具体实施方式的结构图。
图2是本发明一个具体实施方式中顶壳的仰视图。
图3是本发明一个具体实施方式中底壳的俯视图。
图4是本发明一个具体实施方式中弧形底座与橡胶隔震块接触一端的结构图。
图5是本发明一个具体实施方式中橡胶隔震块与Z型弹片连接部位的结构图（图中两侧的Z型弹片未示出）。
图6是本发明一个具体实施方式中锁止带的结构图。
[根据细则91更正 13.02.2022]　
参照图1-6，本发明一个具体实施方式包括上机臂1和下机臂2，下机臂2的两侧设置有第一插槽3，上机臂1的两侧设置有与第一插槽3插接配合的插板4，上机臂1的外侧端固定有顶壳5，顶壳5的中心设置有第一通孔6，顶壳5内侧以第一通孔6为中心环形排布有若干个压块7，下机臂2的外侧端固定有底壳8，底壳8的底面设置有若干个第二通孔13，底壳8的内侧固定有两个弧形底座9，弧形底座9以下机臂2的中线为对称轴对称设置，上机臂1和下机臂2的内侧面固定有一一对应的隔板10，相邻隔板10之间插接有橡胶隔震块11，相邻橡胶隔震块11之间连接有Z型弹片12，与底壳8相接的橡胶隔震块11与两个弧形底座9相互压接。弧形底座9包括若干个橡胶台阶部14，橡胶台阶部14内部设置有第一空腔15，第一空腔15内安装有与橡胶台阶部14相对应的横向硬质板16和纵向弹片17，横向硬质板16和纵向弹片17首尾连接，靠近橡胶隔震块11的一侧弧形底座9的每个纵向弹片17上固定有两个连杆19，橡胶台阶部14与橡胶隔震块11的接触面上设置有弹性膜片18，弹性膜片18的内侧设置有与纵向弹片17一一对应的滑套20，位于同一纵向弹片17上的两个连杆19的顶部通过铰接件21连接，铰接件21滑动卡接在滑套20内。弹性膜片18内设置有纵向加强筋22，滑套20与纵向加强筋22固定连接。橡胶隔震块11侧壁设置有用于固定Z型弹片12的限位槽23，限位槽23底面设置有若干个钢制螺纹套24，Z型弹片12的两端分别设置有一个第三通孔25，第三通孔25与钢制螺纹套24择一配合后，通过锁止螺栓26将Z型弹片12固定在限位槽23内。Z型弹片12上安装有止震片27。压块7的下表面均匀设置有若干个向外倾斜的压片28。上机臂1和下机臂2通过锁止带29固定插接，锁止带29上滑动安装有两个限位块30，限位块30的两端连接有弹簧31，锁止带29固定上机臂1和下机臂2时限位块30位于第一插槽3和插板4之间的空隙中，弹簧31分别与上机臂1和下机臂2压接配合，锁止带29的一端安装有第一调节螺栓32，锁止带29的另一端设置有与第一调节螺栓32卡接配合的卡槽33，锁止带29设置有卡槽33的一端插接在第一调节螺栓32下方，旋转第一调节螺栓32时第一调节螺栓32与不同的卡槽33咬合，实现锁止带29绑扎内径的改变。
另外，橡胶隔震块11内设置有第二空腔34，上机臂1表面设置有与橡胶隔震块11一一对应的螺纹孔35，第二空腔34顶部设置有与螺纹孔35相配合的第四通孔36，第二空腔34侧壁对称固定有支撑弹片37，支撑弹片37顶部设置有弯折部38，弯折部38位于第四通孔36的正下方。第二调节螺栓39与螺纹孔35螺纹连接，第二调节螺栓39的末端与弯折部38相互挤压接触。。
另外，下机臂2内设置有第二插槽40，第二插槽40内活动插接有弹性底板41，弹性底板41顶部设置有与橡胶隔震块11一一对应的底托42，橡胶隔震块11安装在底托42内。弹性底板41与Z型弹片12配合，形成两组相互独立的弹性连接机构，Z型弹片12主要用来对弹性底板41内部的横向作用力进行传递和缓冲，弹性底板41主要用来对弹性底板41内部的纵向作用力进行缓冲。
本发明的机臂机构的组装过程为：先将下机臂2与机身连接，然后将电机安放在底壳8，使弧形底座9与电机稳定接触，使用螺栓穿过第二通孔13将电机进行固定，然后根据电机的大小选择合适的橡胶隔震块11安放在底托42上，再使用Z型弹片12将不同橡胶隔震块11进行连接，然后将上机臂1插接在下机臂2上，使用锁止带29将上机臂1和下机臂2进行锁止固定。

Claims (10)

  1. 机臂机构，其包括上机臂和下机臂，下机臂的两侧设置有第一插槽，上机臂的两侧设置有与第一插槽插接配合的插板，上机臂的外侧端固定有顶壳，顶壳设置有第一通孔和若干个压块，下机臂的外侧端固定有底壳，底壳的底面设置有若干个第二通孔，底壳的内侧固定有两个弧形底座，上机臂和下机臂的内侧面固定有一一对应的隔板，相邻隔板之间插接有隔震块，相邻隔震块之间连接有Z型弹片，与底壳相接的隔震块与两个弧形底座相互压接；优选所述隔震块为橡胶。
  2. 根据权利要求1所述的机臂机构，其中：所述隔震块内设置有第二空腔，上机臂表面设置有与隔震块一一对应的螺纹孔，第二空腔顶部设置有与螺纹孔相配合的第四通孔，第二空腔侧壁对称固定有支撑弹片，支撑弹片顶部设置有弯折部，弯折部位于第四通孔的正下方；第二调节螺栓与螺纹孔螺纹连接，第二调节螺栓的末端与弯折部相互挤压接触。
  3. 根据权利要求1或2所述的机臂机构，其特征在于：所述弧形底座包括若干个台阶部，台阶部内部设置有第一空腔，第一空腔内安装有与台阶部相对应的横向硬质板和纵向弹片，横向硬质板和纵向弹片首尾连接，靠近隔震块的一侧弧形底座的每个纵向弹片上固定有若干个连杆，台阶部与隔震块的接触面上设置有弹性膜片，弹性膜片的内侧设置有与纵向弹片一一对应的滑套，位于同一纵向弹片上的连杆的顶部通过铰接件连接，铰接件滑动卡接在滑套内；优选所述台阶部为橡胶。
  4. 根据权利要求3所述的机臂机构，其特征在于：所述弹性膜片内设置有纵向加强筋，滑套与纵向加强筋固定连接；独立可选的，所述顶壳的中心设置有第一通孔，顶壳内侧以通孔为中心环形排布有若干个压块，弧形底座以下机臂的中线为对称轴对称设置。
  5. 根据权利要求4所述的机臂机构，其特征在于：所述隔震块侧壁设置有用于固定所述Z型弹片的限位槽，限位槽底面设置有若干个钢制螺纹套，Z型弹片的两端分别设置有一个第三通孔，第三通孔与钢制螺纹套择一配合后，通过锁止螺栓将Z型弹片固定在限位槽内。
  6. 根据权利要求1所述的机臂机构，其特征在于：所述Z型弹片上安装有止震片。
  7. 根据权利要求4所述的机臂机构，其特征在于：所述压块的下表面均匀设置有若干个向外倾斜的压片。
  8. 根据权利要求1所述的机臂机构，其特征在于：所述上机臂和下机臂通过锁止带固定插接，锁止带上滑动安装有两个限位块，限位块的两端连接有弹簧，锁止带固定上机臂和下机臂时限位块位于第一插槽和插板之间的空隙中，弹簧分别与上机臂和下机臂压接配合。
  9. 根据权利要求8所述的机臂机构，其特征在于：所述锁止带的一端安装有第一调节螺栓，锁止带的另一端设置有与第一调节螺栓卡接配合的卡槽，锁止带设置有卡槽的一端插接在第一调节螺栓下方。
  10. 根据权利要求1所述的机臂机构，其特征在于：下机臂内设置有第二插槽，第二插槽内活动插接有弹性底板，弹性底板顶部设置有与隔震块一一对应的底托，隔震块安装在底托内。
PCT/CN2021/122503 2020-10-06 2021-10-03 机臂机构 WO2022073465A1 (zh)

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CN202011067603.5 2020-10-06
CN202011067603.5A CN112027054B (zh) 2020-10-06 2020-10-06 一种机臂机构及含有该机臂机构的无人机

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